int32 val

# overall behavior
int32 SUCCESS=1
int32 FAILURE=99999

int32 PLANNING_FAILED=-1
int32 INVALID_MOTION_PLAN=-2
int32 MOTION_PLAN_INVALIDATED_BY_ENVIRONMENT_CHANGE=-3
int32 CONTROL_FAILED=-4
int32 UNABLE_TO_AQUIRE_SENSOR_DATA=-5
int32 TIMED_OUT=-6
int32 PREEMPTED=-7

# planning & kinematics request errors
int32 START_STATE_IN_COLLISION=-10
int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-11
int32 START_STATE_INVALID=-26

int32 GOAL_IN_COLLISION=-12
int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-13
int32 GOAL_CONSTRAINTS_VIOLATED=-14
int32 GOAL_STATE_INVALID=-27
int32 UNRECOGNIZED_GOAL_TYPE=-28

int32 INVALID_GROUP_NAME=-15
int32 INVALID_GOAL_CONSTRAINTS=-16
int32 INVALID_ROBOT_STATE=-17
int32 INVALID_LINK_NAME=-18
int32 INVALID_OBJECT_NAME=-19

# system errors
int32 FRAME_TRANSFORM_FAILURE=-21
int32 COLLISION_CHECKING_UNAVAILABLE=-22
int32 ROBOT_STATE_STALE=-23
int32 SENSOR_INFO_STALE=-24
int32 COMMUNICATION_FAILURE=-25
int32 CRASH=-29
int32 ABORT=-30

# kinematics errors
int32 NO_IK_SOLUTION=-31
